CN109276410A - A kind of multivariant wrist rehabilitation institution - Google Patents
A kind of multivariant wrist rehabilitation institution Download PDFInfo
- Publication number
- CN109276410A CN109276410A CN201811208680.0A CN201811208680A CN109276410A CN 109276410 A CN109276410 A CN 109276410A CN 201811208680 A CN201811208680 A CN 201811208680A CN 109276410 A CN109276410 A CN 109276410A
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- Prior art keywords
- wrist
- multivariant
- finger
- bracket
- rehabilitation institution
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 167
- 230000033001 locomotion Effects 0.000 claims abstract description 39
- 210000000245 forearm Anatomy 0.000 claims description 12
- 238000003756 stirring Methods 0.000 claims 1
- 210000003811 finger Anatomy 0.000 description 42
- 230000009467 reduction Effects 0.000 description 9
- 238000012549 training Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 206010008190 Cerebrovascular accident Diseases 0.000 description 2
- 208000006011 Stroke Diseases 0.000 description 2
- 230000002490 cerebral effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000004932 little finger Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003387 muscular Effects 0.000 description 2
- 206010061225 Limb injury Diseases 0.000 description 1
- 206010028372 Muscular weakness Diseases 0.000 description 1
- 239000004677 Nylon Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000036473 myasthenia Effects 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention provides a kind of multivariant wrist rehabilitation institution, comprising: wrist spins upside down the front end that partial turn is connected to rack, and wrist spins upside down part and does vertical circular-rotation；Flip portion is rotationally connected with wrist and spins upside down part inside and outside wrist, and wrist spins upside down part and does horizontal circular-rotation；Wrist rotary motion partial turn is connected to flip portion inside and outside wrist, always the axis perpendicular to flip portion inside and outside wrist and wrist spin upside down the axis of part to the axis of wrist rotary motion part, and axis of the wrist rotary motion part along wrist rotary motion part does revolution rotation.A kind of multivariant wrist rehabilitation institution provided by the invention, patient is only needed to grasp finger grip portion, quickly patient hand can be connected with wrist rehabilitation institution by finger fixed part, and provided by three-level rotational structure and the motor patterns such as turn up, spin upside down and rotate in patients wrist, play the role of wrist rehabilitation.
Description
Technical field
The present invention relates to a kind of wrist rehabilitation institution, and in particular, to a kind of multivariant wrist rehabilitation institution.
Background technique
Patients with cerebral apoplexy or the postoperative most effective restoration methods of limb injury patient are exactly rehabilitation training at present, and wrist
Rehabilitation training is a link very crucial in limbs of patient rehabilitation exercise.
The rehabilitation institution for having some multiple degrees of freedoms to carry out patients wrist's movement on the market at present occurs, for example Chinese invention is special
Sharp CN201711146236.6 discloses a kind of wrist device for healing and training comprising bracket, pallet, handle, connecting rod, rotation
Seat, flexible pole socket, telescopic rod and rotating shaft holder；Bracket supports pallet, and the first runner assembly, the first rotation are arranged below pallet
Component connection expansion link seat；Under the connection of the first runner assembly, flexible pole socket, telescopic rod, rotating seat can be rotated around first rotating shaft；
Telescopic rod can inside flexible pole socket stretching motion；One end of one end connection rotating seat of telescopic rod, the other end of rotating seat are logical
It crosses the second turning discreteness to be connected with one end of connecting rod, the other end of connecting rod is fixedly connected with handle；In the second turning discreteness
Under connection, connecting rod, handle can be rotated around the second shaft；First rotating shaft parallel vertical axis, first rotating shaft and the second shaft shape
It forms an angle.The mechanism can be realized the rotation of wrist multiple degrees of freedom, provide a variety of different wrist rehabilitation trainings for user.
But above-mentioned patent is had the disadvantage that and is carried out wrist rehabilitation by the way of pure mechanic structure, for myasthenia
Especially zero muscular strength patient of cerebral apoplexy initial stage is not applicable, is suitable for the training of rehabilitation later period Myodynamia recovery.The present invention is matched using motor
The mode for closing retarder drives the mode in each joint of wrist to carry out rehabilitation, is not only suitable for zero muscular strength patient, can also pass through each pass
The Myodynamia recovery training in rehabilitation later period is realized in the torque closed-loop control of nodal axisn motor, is suitable for the rehabilitations such as passive, active and resistance
Mode.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of multivariant wrist rehabilitation institution to make
Patient obtains effective multiple degrees of freedom wrist rehabilitation training during rehabilitation exercise.
To achieve the above object, the present invention provides a kind of multivariant wrist rehabilitation institution, comprising: and rack is described more
The wrist rehabilitation institution of freedom degree further includes that wrist spins upside down part, flip portion and wrist rotary motion portion inside and outside wrist
Point,
It includes the first rotating electric machine, the first retarder and the first bracket, first rotation that the wrist, which spins upside down part,
Rotating motor is mounted on the front end of rack, and first rotating electric machine drives first bracket edge by first retarder
Y-axis rotation；
Flip portion includes that the second rotating electric machine, the second retarder, the second bracket and two are mutual in 90 ° inside and outside the wrist
Occlusion bevel gear constitute bevel gear set, second rotating electric machine is mounted on first bracket lower surface, described
Second rotating electric machine drives the bevel gear set to rotate by second retarder, and the bevel gear set drives described first
Second bracket above bracket is rotated along Z axis；
Wrist rotary motion part includes third rotating electric machine, third retarder and third bracket, the third rotation
Rotating motor is mounted on second bracket, and the third rotating electric machine drives the third bracket by the third retarder
It is rotated along X-axis,
Rotary shaft and the hand of the rotary shaft of wrist rotary motion part by flip portion inside and outside the wrist
Wrist spins upside down the coincidence point of the rotary shaft of part, and with above and below the rotary shaft and the wrist of flip portion inside and outside the wrist
Flip portion is vertical.
Further, the multivariant wrist rehabilitation institution further include:
Finger grip portion, the finger grip portion are installed on the third bracket；
Finger fixed part, the finger fixed part is installed in the finger grip portion, and the finger is fixed
Part is located at the outside of the finger grip portion.
Further, the gap for fixed finger is equipped between the finger grip portion and the finger fixed part.
Further, the finger fixed part is a U-shaped frame, and the side of the finger fixed part is parallel to the hand
Refer to the axis of grip portions.
Further, the finger grip portion includes a shaft and holds column, and the gripping column sleeve turns mounted in described
It outside axis, is rotatablely connected with the shaft, connect with the third bracket, and finger slot there are four being set on the grippings column.
Further, joint motions when being stirred inside and outside flip portion inside and outside the wrist, kinematic axis and patients wrist
Axis is coaxial, and the inside and outside overturning range of the wrist for providing -45 °~+45 ° of patient；
The wrist spins upside down part, and articulating shaft when kinematic axis is spun upside down with patients wrist is mutually concentric,
And the wrist for providing -60 °~+60 ° of patient spins upside down range；
Wrist rotary motion part, kinematic axis and articulating shaft when patients wrist's rotary motion are mutually concentric,
And provide -45 °~+120 ° of patient of wrist rotating range.
Further, the multivariant wrist rehabilitation institution further include: wrist fixed part, the wrist fixed part
Divide and is installed on the third bracket.
Further, the multivariant wrist rehabilitation institution further include: forearm placement part, the forearm placement section
Divide and is mounted on the rack side.
Further, the forearm placement part is a U-type groove.
Compared with prior art, the present invention have it is following the utility model has the advantages that
A kind of multivariant wrist rehabilitation institution provided by the invention only needs patient to grasp finger grip portion, passes through
Patient hand can quickly be connected by finger fixed part with wrist rehabilitation institution, and provide patient by three-level rotational structure
It the motor patterns such as turns up, spin upside down and rotates in wrist, play the role of wrist rehabilitation.The configuration of the present invention is simple, operation is just
Victory has good wrist recovery effect.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is a kind of structural schematic diagram of an embodiment of multivariant wrist rehabilitation institution provided by the invention；
Fig. 2 is the motion mode schematic diagram of flip portion inside and outside wrist in the present invention；
Fig. 3 is the motion mode schematic diagram that wrist spins upside down part in the present invention；
Fig. 4 is the motion mode schematic diagram of wrist rotary motion part in the present invention；
Fig. 5 is a kind of installation diagram of multivariant wrist rehabilitation institution provided by the invention；
Fig. 6 is a kind of use schematic diagram of multivariant wrist rehabilitation institution provided by the invention.
In figure: 00 is rack, and 01 is finger grip portion, and 02 is wrist fixed part, and 03 is finger fixed part, and 04 is
Flip portion inside and outside wrist, 41 be the second rotating electric machine, and 42 be the second retarder, and 43 be the second bracket, and 05 turns over up and down for wrist
Transfer part point, 51 be the first rotating electric machine, and 52 be the first retarder, and 53 be the first bracket, and 06 is wrist rotary motion part, and 61 are
Third rotating electric machine, 62 be third retarder, 63 be third bracket, 07 be forearm placement part.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
Referring to Fig.1 shown in-Fig. 5, Fig. 1 is a kind of multivariant wrist rehabilitation institution of the invention, comprising: rack 00,
Multivariant wrist rehabilitation institution further include wrist spin upside down part 05, flip portion 04 and wrist rotation fortune inside and outside wrist
Dynamic part 06,
It includes the first rotating electric machine 51, the first retarder 52 and the first bracket 53, the first rotation that wrist, which spins upside down part 05,
Rotating motor 51 is mounted on 00 front end of rack, and the first rotating electric machine 51 drives the first bracket 53 to turn along Y-axis by the first retarder 52
It is dynamic；
Flip portion 04 includes that the second rotating electric machine 41, the second retarder 42, the second bracket 43 and two are mutual inside and outside wrist
In the bevel gear set 44 that the bevel gear of 90 ° of occlusions is constituted, the second rotating electric machine 41 is mounted on 53 lower surface of the first bracket, the
Two rotating electric machines 41 drive bevel gear set 44 to rotate by the second retarder 42, and bevel gear set 44 drives above the first bracket 53
The second bracket 43 along Z axis rotate；
Wrist rotary motion part 06 includes third rotating electric machine 61, third retarder 62 and third bracket 63, third rotation
Rotating motor 61 is mounted on the second bracket 43, and third rotating electric machine 61 drives third bracket 63 along X-axis by third retarder 62
Rotation,
The rotary shaft of wrist rotary motion part 06 is turned over up and down by the rotary shaft and wrist of flip portion 04 inside and outside wrist
The coincidence point of the rotary shaft of transfer part point 05, and spin upside down part 05 with the rotary shaft of flip portion 04 and wrist inside and outside wrist and hang down
Directly.
Specifically, three motion parts of the invention use series system referring to shown in Fig. 6, wrist first is spun upside down
Part 05 is first movable joint axis, spins upside down articulating shaft with patients wrist and coincides, second joint shaft is hand
Articulating shaft is overturn inside and outside wrist inside and outside flip portion 04, with patients wrist to coincide, spins upside down part fortune with patients wrist
Movable joint axis is perpendicular, and third joint shaft is wrist rotary motion part 06, coincides with patients wrist's rotary joint axis, with
The movable joint axis that wrist spins upside down flip portion 04 inside and outside part 05 and wrist is perpendicular.Patient when doing rehabilitation exercise,
It can be flip portion 04, wrist inside and outside wrist and spin upside down part 05 and the independently moving of wrist rotary motion part 06, it can also
To be these three motor patterns, cooperation linkage, is also possible to the coordinated movement of various economic factors together of these three motor patterns between any two.
The motion source of flip portion 04 can use DC stepper motor, direct current permanent magnet motor, brush DC inside and outside wrist
One of motor, direct current torque motor, AC servo motor, the side that motor pattern can be directly driven using rotating electric machine
Formula, can also be using one in RV retarder, planetary reduction gear, harmonic speed reducer, gear reduction unit, worm type of reduction gearing etc.
Kind；Wrist spin upside down part 05 motion source can using DC stepper motor, direct current permanent magnet motor, DC brushless motor,
One of direct current torque motor, AC servo motor, motor pattern can be in such a way that rotating electric machine directly drive, can also
Using one of RV retarder, planetary reduction gear, harmonic speed reducer, gear reduction unit, worm type of reduction gearing etc.；Wrist
The motion source of rotary motion part 06 can use DC stepper motor, direct current permanent magnet motor, DC brushless motor, direct current torque
One of motor, AC servo motor, motor pattern can also use RV in such a way that rotating electric machine directly drives
One of retarder, planetary reduction gear, harmonic speed reducer, gear reduction unit, worm type of reduction gearing etc..
Referring to Fig.1 shown in-Fig. 5, based on any of the above embodiments, multivariant wrist rehabilitation institution is also wrapped
It includes:
Finger grip portion 01, finger grip portion 01 are installed on third bracket 63；
Finger fixed part 03, finger fixed part 03 are installed in finger grip portion 01, and finger fixed part 03
Positioned at the outside of finger grip portion 01.
Referring to Fig.1, shown in Fig. 4 and Fig. 6, based on any of the above embodiments, finger grip portion 01 and finger are solid
Determine to be equipped with the gap interted for finger between part 03.
Shown in referring to FIG. 1, FIG. 2 and FIG. 4, based on any of the above embodiments, finger grip portion 01 includes one
Shaft and gripping column, hold column sleeve outside shaft, are rotatablely connected with shaft, connect with third bracket 63, and hold and set on column
There are four refer to slot, and hold column on open there are four refer to slot.
Specifically, finger grip portion 01 hold column provide patient grasp function, and with 03 phase of finger fixed part
Cooperation mutually fixes patient hand point with mechanism；Finger fixed part 03 is used for when patient grasps finger grip portion 01,
By way of bandage by the index finger of patient, the third finger, middle finger or little finger together or in which it is several be fixed, finally play
The effect that patient hand mutually fixes with wrist rehabilitation institution.Four finger slots on column are held, index finger, middle finger, unknown is capable of fixing
Finger and little finger, facilitate patient to hold.
Based on any of the above embodiments, it is -60 °~+60 °, wrist that wrist, which spins upside down 05 slewing area of part,
The slewing area of inside and outside flip portion 04 is -45 °~+45 °, the slewing area of wrist rotary motion part 06 is -45 °~+
120°。
Based on any of the above embodiments, it turns up in flip portion 04 inside and outside wrist, kinematic axis and patients wrist
Articulating shaft when dynamic is coaxial, and the inside and outside overturning range of the wrist for providing -45 °~+45 ° of patient；
Wrist spins upside down part 05, and articulating shaft when kinematic axis is spun upside down with patients wrist is mutually concentric, and
- 60 °~+60 ° of patient of wrist is provided and spins upside down range；
Wrist rotary motion part 06, kinematic axis and articulating shaft when patients wrist's rotary motion are mutually concentric, and
- 45 °~+120 ° of patient of wrist rotating range is provided.
Referring to Fig.1 shown in-Fig. 2, based on any of the above embodiments, multivariant wrist rehabilitation institution is also wrapped
Include: wrist fixed part 02, wrist fixed part 02 are installed on inside and outside wrist in flip portion 04.
Specifically, wrist fixed part 02 is used to the wrist of patient being fixed on wrist rotary motion part 06；Wrist
Fixed part 02 and finger fixed part 03 can use velcro, magic tape, can also be inserted and be buckled using bandage, nylon tape
Mode finger and wrist rehabilitation institution are mutually fixed.
Shown in referring to FIG. 1, FIG. 2 and FIG. 4, based on any of the above embodiments, multivariant wrist rehabilitation institution
Further include: forearm placement part 07, forearm placement part 07 are mounted on 00 side of rack.
Shown in referring to FIG. 1, FIG. 2 and FIG. 4, forearm placement part 07 is a U-type groove.
Specifically, forearm placement part 07 keeps wrist more stable light when doing various movements for placing forearm.
In the present embodiment, wrist spin upside down part 05, flip portion 04 and wrist rotary motion part inside and outside wrist
Motor mechanism in 06 can drive patients wrist to be acted accordingly, it is helped to form muscle memory, accelerate rehabilitation.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (10)
1. a kind of multivariant wrist rehabilitation institution, comprising: rack (00), it is characterised in that: the multivariant wrist
Rehabilitation institution further includes that wrist spins upside down part (05), flip portion (04) and wrist rotary motion part inside and outside wrist
(06),
It includes the first rotating electric machine (51), the first retarder (52) and the first bracket that the wrist, which spins upside down part (05),
(53), first rotating electric machine (51) is mounted on the rack (00) front end, and first rotating electric machine (51) passes through described
First retarder (52) drives first bracket (53) to rotate along Y-axis；
Flip portion (04) includes the second rotating electric machine (41), the second retarder (42), the second bracket (43) inside and outside the wrist
The bevel gear set (44) mutually constituted in the bevel gear of 90 ° of occlusion with two, second rotating electric machine (41) are mounted on described
On first bracket (53) lower surface, second rotating electric machine (41) drives the bevel gear by second retarder (42)
Group (44) rotation, the bevel gear set (44) drive second bracket (43) above first bracket (53) along Z axis
Rotation；
Wrist rotary motion part (06) includes third rotating electric machine (61), third retarder (62) and third bracket
(63), the third rotating electric machine (61) is mounted on second bracket (43), and the third rotating electric machine (61) passes through institute
Stating third retarder (62) drives the third bracket (63) to rotate along X-axis,
The rotary shaft of wrist rotary motion part (06) passes through the rotary shaft of flip portion (04) and institute inside and outside the wrist
State wrist spin upside down part (05) rotary shaft coincidence point, and with the rotary shaft of flip portion (04) inside and outside the wrist and
It is vertical that the wrist spins upside down part (05).
2. a kind of multivariant wrist rehabilitation institution according to claim 1, it is characterised in that: described multivariant
Wrist rehabilitation institution further include:
Finger grip portion (01), the finger grip portion (01) are installed on the third bracket (63)；
Finger fixed part (03), the finger fixed part (03) are installed on the finger grip portion (01), and described
Finger fixed part (03) is located at the outside of the finger grip portion (01).
3. a kind of multivariant wrist rehabilitation institution according to claim 2, it is characterised in that: the finger grips
Divide between (01) and the finger fixed part (03) gap being equipped with for fixed finger.
4. a kind of multivariant wrist rehabilitation institution according to claim 3, it is characterised in that: the finger fixed part
Dividing (03) is a U-shaped frame, and the side of the finger fixed part (03) is parallel to the axis of the finger grip portion (01).
5. a kind of multivariant wrist rehabilitation institution according to claim 4, it is characterised in that: the finger grips
Point (01) includes a shaft and holds column, and the grippings column sleeve is outside the shaft, and shaft rotation connection, with institute
State third bracket (63) connection, and set on the grippings column there are four finger slot.
6. a kind of multivariant wrist rehabilitation institution according to claim 1, it is characterised in that: the wrist is turned over up and down
Transfer part point (05) slewing area is -60 °~+60 °, inside and outside the wrist slewing area of flip portion (04) be -45 °~+
45 °, the slewing area of wrist rotary motion part (06) is -45 °~+120 °.
7. a kind of multivariant wrist rehabilitation institution according to claim 1, it is characterised in that: turn up in the wrist
(04) is divided in transfer part, and articulating shaft when stirring inside and outside kinematic axis and patients wrist is coaxial, and provides patient -45 °~+45 °
Wrist inside and outside overturn range；
The wrist spins upside down part (05), and articulating shaft when kinematic axis is spun upside down with patients wrist is mutually concentric,
And the wrist for providing -60 °~+60 ° of patient spins upside down range；
Wrist rotary motion part (06), kinematic axis and articulating shaft when patients wrist's rotary motion are mutually concentric,
And provide -45 °~+120 ° of patient of wrist rotating range.
8. a kind of multivariant wrist rehabilitation institution according to claim 1-7, it is characterised in that: described more
The wrist rehabilitation institution of freedom degree further include: wrist fixed part (02), the wrist fixed part (02) are installed on described
On three brackets (63).
9. a kind of multivariant wrist rehabilitation institution according to claim 1-7, it is characterised in that: described more
The wrist rehabilitation institution of freedom degree further include: forearm placement part (07), the forearm placement part (07) are mounted on the machine
Frame (00) side.
10. a kind of multivariant wrist rehabilitation institution according to claim 9, it is characterised in that: the forearm is placed
Partially (07) is a U-type groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811208680.0A CN109276410A (en) | 2018-10-17 | 2018-10-17 | A kind of multivariant wrist rehabilitation institution |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811208680.0A CN109276410A (en) | 2018-10-17 | 2018-10-17 | A kind of multivariant wrist rehabilitation institution |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109276410A true CN109276410A (en) | 2019-01-29 |
Family
ID=65177380
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811208680.0A Pending CN109276410A (en) | 2018-10-17 | 2018-10-17 | A kind of multivariant wrist rehabilitation institution |
Country Status (1)
| Country | Link |
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| CN (1) | CN109276410A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110478193A (en) * | 2019-09-10 | 2019-11-22 | 哈尔滨理工大学 | A kind of novel Three Degree Of Freedom wrist recovery robot based on differential gearing |
| US20220062086A1 (en) * | 2020-09-02 | 2022-03-03 | Ford Global Technologies, Llc | Powered exoskeleton wrist component |
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| US20220062086A1 (en) * | 2020-09-02 | 2022-03-03 | Ford Global Technologies, Llc | Powered exoskeleton wrist component |
| US11813219B2 (en) * | 2020-09-02 | 2023-11-14 | Ford Global Technologies, Llc | Powered exoskeleton wrist component |
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